NDLI: Mechanical Design of Haptic Forceps for Robotic Surgery

Content Provider	IEEE Xplore Digital Library
Author	Rizun, P.R. Gunn, D.C. Cox, B.L. Sutherland, G.R.
Copyright Year	2006
Description	Author affiliation: Project neuroArm Advanced Prototyping & Engineering Laboratory, University of Calgary, Canada, prizun@ucalgary.ca (Rizun, P.R.)
Abstract	Robotic forceps were designed to meet the ergonomic requirements imposed by surgeons while providing a high-fidelity haptic interface. The forceps are designed as a master device used to control single degree-of-freedom surgical tools and accurately convey the sensations detected. The forceps are modular with completely integrated control electronics, operating with only a power source and a two-wire serial connection to a controlling computer. They are designed to “plug in” to a haptic hand controller using a suitably modified stylus adapter or connect directly to a cable. The forceps employ a contact-free magnetic position sensor with sub micron resolution as well as accelerometers to measure opening and closing acceleration. Actuation is accomplished with a contact-free high-bandwidth voice coil actuator that is expected to generate peak opening and closing forces over 7N with a force resolution less than 5mN.
Starting Page	331
Ending Page	335
File Size	466851
Page Count	5
File Format	PDF
ISBN	1424402263
DOI	10.1109/HAPTIC.2006.1627123
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-03-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Surgery Robot sensing systems Force control Accelerometers Ergonomics Centralized control Magnetic sensors Force measurement Position measurement surgical robotics device design haptic forceps
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Workspace mapping and force control for small haptic device based robot teleoperation

Interactive force sensing feedback system for remote robotic laparoscopic surgery

Development of an integrated torque sensor-motor module for haptic feedback in teleoperated robot-assisted surgery

Needle insertion forces for haptic feedback device

Master/slave haptic forceps with applications to robotic surgery

Compact haptic device using a pneumatic bellows for teleoperation of a surgical robot

Safety Design and Control Algorithm for Robotic Spinal Surgical System

Robotic suturing forces in the presence of haptic feedback and sensory substitution

Multimodal haptic interface for surgical robotics

Mechanical Design of Haptic Forceps for Robotic Surgery

Similar Documents

Workspace mapping and force control for small haptic device based robot teleoperation

Interactive force sensing feedback system for remote robotic laparoscopic surgery

Development of an integrated torque sensor-motor module for haptic feedback in teleoperated robot-assisted surgery

Needle insertion forces for haptic feedback device

Master/slave haptic forceps with applications to robotic surgery

Compact haptic device using a pneumatic bellows for teleoperation of a surgical robot

Safety Design and Control Algorithm for Robotic Spinal Surgical System

Robotic suturing forces in the presence of haptic feedback and sensory substitution

Multimodal haptic interface for surgical robotics

Mechanical Design of Haptic Forceps for Robotic Surgery